mirror of https://github.com/ArduPilot/ardupilot
165 lines
3.7 KiB
C++
165 lines
3.7 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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hacked up DataFlash library for Desktop support
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <unistd.h>
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#include <stdlib.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <stdint.h>
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#include <assert.h>
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#include "DataFlash.h"
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#pragma GCC diagnostic ignored "-Wunused-result"
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#define DF_PAGE_SIZE 512
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#define DF_NUM_PAGES 16384
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extern const AP_HAL::HAL& hal;
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static int flash_fd;
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static uint8_t buffer[2][DF_PAGE_SIZE];
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// Public Methods //////////////////////////////////////////////////////////////
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void DataFlash_SITL::Init(const struct LogStructure *structure, uint8_t num_types)
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{
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DataFlash_Backend::Init(structure, num_types);
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if (flash_fd == 0) {
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flash_fd = open("dataflash.bin", O_RDWR, 0777);
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if (flash_fd == -1) {
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uint8_t *fill;
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fill = (uint8_t *)malloc(DF_PAGE_SIZE*DF_NUM_PAGES);
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flash_fd = open("dataflash.bin", O_RDWR | O_CREAT, 0777);
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memset(fill, 0xFF, DF_PAGE_SIZE*DF_NUM_PAGES);
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write(flash_fd, fill, DF_PAGE_SIZE*DF_NUM_PAGES);
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free(fill);
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}
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ftruncate(flash_fd, DF_PAGE_SIZE*DF_NUM_PAGES);
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}
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df_PageSize = DF_PAGE_SIZE;
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// reserve last page for config information
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df_NumPages = DF_NUM_PAGES - 1;
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}
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// This function is mainly to test the device
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void DataFlash_SITL::ReadManufacturerID()
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{
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df_manufacturer = 1;
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df_device = 0x0203;
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}
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bool DataFlash_SITL::CardInserted(void)
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{
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return true;
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}
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// Read the status register
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uint8_t DataFlash_SITL::ReadStatusReg()
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{
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return 0;
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}
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// Read the status of the DataFlash
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inline
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uint8_t DataFlash_SITL::ReadStatus()
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{
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return 1;
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}
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inline
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uint16_t DataFlash_SITL::PageSize()
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{
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return df_PageSize;
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}
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// Wait until DataFlash is in ready state...
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void DataFlash_SITL::WaitReady()
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{
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while(!ReadStatus());
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}
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void DataFlash_SITL::PageToBuffer(unsigned char BufferNum, uint16_t PageAdr)
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{
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assert(PageAdr>=1);
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pread(flash_fd, buffer[BufferNum], DF_PAGE_SIZE, (PageAdr-1)*DF_PAGE_SIZE);
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}
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void DataFlash_SITL::BufferToPage (unsigned char BufferNum, uint16_t PageAdr, unsigned char wait)
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{
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assert(PageAdr>=1);
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pwrite(flash_fd, buffer[BufferNum], DF_PAGE_SIZE, (PageAdr-1)*(uint32_t)DF_PAGE_SIZE);
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}
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void DataFlash_SITL::BufferWrite (unsigned char BufferNum, uint16_t IntPageAdr, unsigned char Data)
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{
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buffer[BufferNum][IntPageAdr] = (uint8_t)Data;
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}
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void DataFlash_SITL::BlockWrite(uint8_t BufferNum, uint16_t IntPageAdr,
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const void *pHeader, uint8_t hdr_size,
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const void *pBuffer, uint16_t size)
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{
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if (!_writes_enabled) {
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return;
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}
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if (hdr_size) {
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memcpy(&buffer[BufferNum][IntPageAdr],
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pHeader,
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hdr_size);
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}
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memcpy(&buffer[BufferNum][IntPageAdr+hdr_size],
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pBuffer,
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size);
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}
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// read size bytes of data to a page. The caller must ensure that
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// the data fits within the page, otherwise it will wrap to the
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// start of the page
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bool DataFlash_SITL::BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, void *pBuffer, uint16_t size)
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{
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memcpy(pBuffer, &buffer[BufferNum][IntPageAdr], size);
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return true;
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}
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// *** END OF INTERNAL FUNCTIONS ***
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void DataFlash_SITL::PageErase (uint16_t PageAdr)
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{
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uint8_t fill[DF_PAGE_SIZE];
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memset(fill, 0xFF, sizeof(fill));
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assert(PageAdr>=1);
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pwrite(flash_fd, fill, DF_PAGE_SIZE, (PageAdr-1)*DF_PAGE_SIZE);
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}
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void DataFlash_SITL::BlockErase (uint16_t BlockAdr)
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{
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uint8_t fill[DF_PAGE_SIZE*8];
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memset(fill, 0xFF, sizeof(fill));
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assert(BlockAdr>=1);
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pwrite(flash_fd, fill, DF_PAGE_SIZE*8, (BlockAdr-1)*DF_PAGE_SIZE*8);
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}
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void DataFlash_SITL::ChipErase()
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{
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for (int i=0; i<DF_NUM_PAGES; i++) {
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PageErase(i);
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hal.scheduler->delay(1);
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}
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}
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#endif
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